Robotic parking device and handling method

ABSTRACT

An exemplary robotic parking device of the present disclosure includes a number of stacks of containers. The stacks being positioned within a frame structure including uprights and a horizontal grid disposed above the stacks. The grid having substantially perpendicular rails on which load handling devices can run. Cars or vehicles are positioned in containers and are moved into and out of the stacks by the robotic handling devices running on the grid. The cars are put into the grid at entry points that may be positioned at points under the stacks.

This application is a continuation of U.S. application Ser. No.15/566,535, filed Oct. 13, 2017, which is a U.S. National Phase ofInternational Application No. PCT/EP2016/058378, filed Apr. 15, 2016,which claims priority from UK Patent Application Nos. GB1506365.4 filedApr. 15, 2015, GB1514428.0 filed Aug. 13, 2015, GB1518089.6 filed Oct.13, 2015, GB1602332.7 filed Feb. 9, 2016, GB1518091.2 filed Oct. 13,2015, GB1518094.6 filed Oct. 13, 2015, GB1518111.8 filed Oct. 13, 2015,GB1518115.9 filed Oct. 13, 2015, GB1518117.5 filed Oct. 13, 2015 andGB1603328.4 filed Feb. 25, 2016 the content of all these applicationshereby being incorporated by reference.

The present invention relates to a robotic parking system device andmethod. More specifically but not exclusively, it relates to how anestablished technology for order picking and sortation of smaller itemscan be scaled up to create a high density, high throughput parkingsystem.

Some commercial and industrial activities require systems that enablethe storage and retrieval of a large number of different products. Oneknown type of system for the storage and retrieval of items in multipleproduct lines involves arranging storage bins or containers in stacks ontop of one another, the stacks being arranged in rows. The storage binsor containers are accessed from above, removing the need for aislesbetween the rows and allowing more containers to be stored in a givenspace.

There are over one billion cars in the world and most of them are parkedat any given point in time. In many cities and other locations, carparking requires a substantial percentage of the available land, whichhas led to the evolution of the multi-storey car park. Due to the needto random access to all of the cars, restrictions imposed by varyingsizes of vehicles, structural needs of the buildings and the need fordrivers and passengers to comfortably access their vehicles, such carparks do not fully utilise the available volume for parked cars. Infact, only around 10% of the volume of a typical multi storey car parkis actually filled with the volume of cars. The present invention seeksto increase that number to around 40%.

Methods for parking vehicles more densely using mechanical devices existas described in patent applications EP0740034 A1 and DE10151916 A1 orpatents U.S. Pat. No. 3,390,791 and EP2663703 B1. The Otto Wöhr Companyclaims to have delivered over 400,000 mechanised parking locationsglobally over the years. Such systems allow more density than aconventional multi storey garage, but have some significant drawbacks.These include cost, reliability and throughput capacity. These factorshave therefore made them difficult to justify in many situations. Thepresent invention uses a completely different principle to address thesedrawbacks.

Methods of handling containers stacked in rows are well known. In somesuch systems, for example as described in U.S. Pat. No. 2,701,065Bertel, comprise freestanding stacks of containers arranged in rows inorder to reduce the storage volume associated with storing suchcontainers but yet still providing access to a specific container ifrequired. Access to a given container is made possible by providingrelatively complicated hoisting mechanisms which can be used to stackand remove given containers from stacks. The cost of such systems are,however, impractical in many situations and they have mainly beencommercialised for the storage and handling of large shippingcontainers.

The concept of using freestanding stacks of containers and providing amechanism to retrieve and store specific containers has been developedfurther, for example as described in EP 1037828 B1 (Autostore), thecontents of which are incorporated herein by reference. This describes asystem in which stacks of containers are arranged within a framestructure. Robotic load handling devices can be controllably movedaround the stack on a system of tracks on the upper most surface of thestack.

One development of load handling device is described in PCT ApplicationNo GB2014/052273, where each robotic load handler only covers one gridspace, thus allowing higher density of load handlers and thus higherthroughput of a given size system. As described in GB Patent ApplicationNo 1506364.7, containers may also be of varying heights and sizes.

According to the invention there is provided a robotic parking systemcomprising a plurality of vehicle holding containers, the containersbeing disposed in stacks within a frame work structure, the frame workstructure comprising a series of substantially vertical uprights havinga substantially horizontal grid mounted thereon, the grid comprising twosubstantially perpendicular sets of rails on which at least one loadhandling device is operable, the load handling device comprising a bodymounted on wheels, a first set of wheels being arranged to engage withat least two rails of the first set of rails, the second set of wheelsbeing arranged to engage with at least two rails of the second set ofrails, the first set of wheels being independently moveable anddriveable with respect to the second set of wheels such that when inmotion only one set of wheels is engaged with the grid at any one timethereby enabling movement of the load handling device along the rails toany point on the grid by driving only the set of wheels engaged with therails in which the containers comprise a vehicle carrying platform andsupports, the supports positioned and sized such that each containersupports the container immediately above in the stack.

The key benefits over the prior art of conventional multi-storey carparks is much higher density of parking. Around four times more vehiclesshould be achievable.

Additionally, it will be much faster than driving up and down severallevels of multi storeys and there would be less risk of damage to thevehicles. The key benefits over prior art mechanised car parks are cost,since the load handlers would on average be much better utilised thanthe cranes of the prior art systems, for any given maximum throughputcapacity. It would be reliability, since the system could easily bedesigned so that any one load handler breaking down would not preventaccess to any of the vehicles. Moreover, the present invention wouldimprove space utilisation, by up to a factor of two.

The invention will now be described with reference to the accompanyingdiagrammatic drawings in which:

FIG. 1 shows a schematic perspective view of a container for use in arobotic car parking system, with a vehicle inside in accordance with oneaspect of the invention, the container comprising four corner supportsand moveable sides;

FIG. 2 shows a schematic perspective view of the container of FIG. 1showing the corner supports folded down, the vehicle being located on abase plate attached to the corner supports;

FIG. 3 shows a schematic perspective view of the container of FIGS. 1and 2 showing the side barriers folded down to allow for access in tothe vehicle,

FIG. 4a shows a schematic perspective view of a robotic parking systemin accordance with one aspect of the invention, the system comprising anumber of stacks of containers as shown in FIGS. 1 to 3, the stacksbeing positioned within a frame structure comprising uprights and ahorizontal grid disposed above the stacks, the grid comprisingsubstantially perpendicular rails on which load handling devices canrun;

FIG. 4b shows a schematic perspective view of a load handling device insitu on the robotic parking system, the load handling device running ona double track system, the double track forming part of the framework ofthe robotic car parking system, thereby enabling load handling devicesto pass each other in either the X or Y direction whilst operating onthe system.

FIG. 5 shows a schematic perspective view of a robotic parking system inaccordance with a further aspect of the invention, the system comprisingcontainers of different sizes capable of carrying different sizes ofvehicle within stacks;

FIG. 6 shows a schematic perspective view of the system in accordancewith a further aspect of the invention, the system comprising twodifferent sub-systems for different sizes of containers with differentsized robotic load handlers;

FIG. 7 shows a schematic perspective view of an exit station of thesystem in accordance with the invention, two of the corner supports andthe side barriers being folded down to allow entry of a driver in to thevehicle and to allow the vehicle to exit the device;

FIG. 8 shows a schematic perspective view of a combined entry/exitstation of the robotic parking system where both short sides fold downto allow entry and exit of a vehicle in to or out of the system;

FIG. 9 shows a schematic drawing of a portion of the robotic parkingsystem in accordance with one form of the invention, a load handlingdevice, comprising a body and sets of wheels and, lowering a box-typestructure in to an entry point with a detachable base to allow loadingof the vehicle;

FIG. 10 shows a schematic drawing of the embodiment in FIG. 9, where thebox-type structure is connected to the base to form a container, inposition to be lifted by the load handling device;

FIG. 11 shows a schematic drawing of the embodiment of FIGS. 9 to 10showing the container, comprising the box-type structure attached to thebase and containing the vehicle, being lifted by the load handlingdevice into the parking structure shown in FIG. 4;

FIG. 12 shows an alternative form of the robotic parking system inaccordance with the invention, the system comprising a plate on whichthe vehicle is located prior to parking, the plate moving from a firstposition, where the driver and passengers can exit the vehicle safely,to a second position where the vehicle is located within a container forcollection by a load handling device and for transport of the containerin to the robotic parking system;

FIGS. 13a, 13b and 13c showing possible positions of the plate withoutthe vehicle in situ for clarity;

FIGS. 14a and 14b show a schematic perspective view of one form of entrysystem for a vehicle, the system comprising an airlock type mechanism toensure safety of users of the system; and

FIG. 15 is a schematic perspective view of one form of robotic parkingsystem showing all aspects of the system described above in use.

FIG. 1 shows a stackable container 10, the container 10 carrying avehicle 20. The container 10 comprises 4 corner supports 30, a containerbase 35 and side barriers 40. The corner supports are moveable around apivot point at the join with the base 35 such that the corner supportscan fold down, as shown in FIG. 2, to allow easy movement andpositioning of the vehicle 20 within the container 10. As shown in FIG.3, the side barriers 40 are collapsible to allow easy entry in to thevehicle 20 from the container 10.

It will be appreciated that the word “container” is used here for adevice which is primarily a platform with four heavy corner uprights 30to support other containers 10 on top and sidings 40 especially on theshort sides to ensure a vehicle 20 can never roll off the container 10or any person accidentally left inside a vehicle 20 can get out of thevehicle 20 and in to danger. However it will be appreciated that thecontainer 10 may be of any suitable form that is capable of carrying avehicle 20 and supporting other containers 10 carrying vehicles 20 in astack 110.

For example, in another embodiment of the invention the container 10 maycomprise a platform having lowerable upturned sides and a cage or boxstructure that may be lowered over the vehicle 20, thereby completelyenclosing the vehicle which may be advantageous for safety reasons.

In use, a plurality of containers are stacked on top of one another toform stacks 110. The stacks 110 are arranged within a frame structure70. FIG. 4 shows stacks 110 each comprising five containers 10, thedevice 100 comprising a 6 by 3 block of stacks 110 within the framestructure 70. The frame structure 70 comprises a series of uprightmembers 72 that support horizontal members 74 a, 74 b. A first set ofsubstantially parallel horizontal members 74 a is arranged substantiallyperpendicularly to a second set 74 b of substantially parallelhorizontal members to form a horizontal grid structure 74 supported bythe upright members 72.

The members 72, 74 are typically manufactured from metal. The containers10 are stacked between the members 72, 74 of the frame structure 70,such that the frame structure 70 guards against horizontal movement ofthe stacks 110 of containers 10, and guides vertical movement of thecontainers 10.

The top level of the frame structure 70 includes rails 74 arranged in agrid pattern across the top of the stacks 110. Referring to FIGS. 4, 5and 6, the rails 74 support a plurality of robotic load handling devices50. A first set 74 a of parallel rails 74 guide movement of the loadhandling devices 50 in a first direction (X) across the top of the framestructure 70, and a second set 74 b of parallel rails 74, arrangedsubstantially perpendicular to the first set 74 a, guide movement of theload handling devices 50 in a second direction (Y), substantiallyperpendicular to the first direction. In this way, the rails 74 allowmovement of the load handling devices 50 in two dimensions in the X-Yplane, so that a load handling device 50 can be moved into positionabove any of the stacks 110.

Each load handling device 50 comprises a body 55 which is arranged totravel in the X and Y directions on the rails 74 of the frame structure70, above the stacks 110. A first set of wheels 34, consisting of a pairof wheels 34 on the front of the body 55 and a pair of wheels 34 on theback of the body 55, are arranged to engage with two adjacent rails ofthe first set 74 a of rails 74. Similarly, a second set of wheels 36,consisting of a pair of wheels 36 on each side of the body 55, arearranged to engage with two adjacent rails of the second set 74 b ofrails 74. Each set of wheels 34, 36 can be lifted and lowered, so thateither the first set of wheels 34 or the second set of wheels 36 isengaged with the respective set of rails 74 a, 74 b at any one time.

When the first set of wheels 34 is engaged with the first set of rails74 a and the second set of wheels 36 are lifted clear from the rails 74,the wheels 34 can be driven, by way of a drive mechanism (not shown)housed in the body 55, to move the load handling device 50 in the Xdirection. To move the load handling device 50 in the Y direction, thefirst set of wheels 34 are lifted clear of the rails 74, and the secondset of wheels 36 are lowered into engagement with the second set ofrails 74 b. The drive mechanism can then be used to drive the second setof wheels 36 to achieve movement in the Y direction.

In this way, one or more robotic load handling devices 50 can movearound the grid at the top of the stacks 110 on the frame structure 70under the control of a central picking system (not shown). Each roboticload handling device 50 is provided with means for lifting out one ormore containers 10 from the stack 110 to access the required vehicle.Using multiple load handling devices 50 enables access vehicles 20 frommultiple locations in the grid and stacks 110 at any one time.

In use, a vehicle 20 is manoeuvred into a container 10 at an entry pointand the driver exits the vehicle 20. The corner supports 30 and sidebarriers 40 are raised and a load handling device 50 is instructed by acontrol system (not shown) to collect the container 10 and position itwithin the stacks 110 of containers 10.

The control system decides on the optimal point the vehicle should bepositioned in the stacks 110. If the vehicle 20 is not required for along period of time, it may be advantageous for the container 10 to belaced underneath containers 10 holding vehicles 20 that are needed moreimminently. Therefore, the load handler 50 may move containers 10already in the stacks 110 in order to create a position to place thecontainer 10 holding the new vehicle 20 to be parked. Once a suitableposition is created, the load handler 50 is positioned on the grid 74 ata point where it can pick up the container 10. The container 10 islifted to within the body 55 of the load handler 50 and the load handler50 is moved to a position on the grid 74 immediately above the positionwhere the container is to be placed in a stack 110. If necessary, othercontainers 10 are back placed above the recently positioned container10.

It will be appreciated that several load handlers 50 may need to work incooperation to move containers 10 around in the stacks 110. Furthermore,load handlers may rearrange the stacks periodically in order to positionvehicles 20 near the tops of the stacks 110 that will be needed soonest.

When a vehicle 20 needs to be retrieved from the stacks 110, a loadhandler 50 is positioned above the relevant stack 110 and removes thetop container 10. If this container 10 holds the desired vehicle 20, thecontainer 10 is moved to the exit point. If the container 10 does notcontain the desired vehicle 20, the container is moved to an alternativestack 110 and the next container in the first stack 110 is accessed.This continues until the container 10 holding the desired vehicle 20 isretrieved. This container 10 is then moved to the exit point forcollection.

In this way, a high density of vehicle packing is achieved, whilst easydeposit and retrieval of vehicles is maintained.

It will be appreciated that a control system, not shown, is providedwith suitable means for identifying and monitoring which vehicle 20 isin which container and where in the stacks 110 it is located. Thecontrol means may use number plate recognition or may use a ticketingand bar coding system or any other suitable tracking means

It will be appreciated that there is a grid structure to support thecontainers 10 horizontally. This means that the containers 10 can bedesigned for the corner supports 30 to take the vertical forces from thecontainers above, but do not need to take any horizontal forces. Thisway highly stable stacks 110 can be made from low cost containers 10.

It will be appreciated that vehicles 20 will be loaded into and out ofcontainers 10 at dedicated entry and exit points. Examples of theseentry and exit points are shown in FIGS. 7 and 8. As shown in FIGS. 7and 8, the entry and/or exit points comprise an area where the container10 is received from the load handling device 50. The entry and/or exitpoint may comprise additional barriers or fencing to protect users whenthe container 10 is being received from the load handling device 50.

In a further embodiment of the invention, the container 10 has one ortwo folding short sides incorporating the corner supports, which can beused as ramps to drive on and off, but will also allow the container tobe as narrow as possible, since the vehicle will not need to be drivenin between the load carrying pillars at the corners.

In yet another embodiment of the invention the long sides of thecontainer are arranged so that they enable driver and passengers to openthe doors at entry and exit stations, when either of the short sides aredown. When the short sides are up, the long sides will provide abarrier, so that no doors can be opened. This to prevent a person whoaccidentally gets left inside a vehicle from getting into danger.

In a further embodiment, there is a heat or other sensor to ensure thatno person or animal is left inside the vehicle before the container isclosed.

In a further embodiment the driver of the vehicle 20 communicate withthe parking system via a communication device such as a smartphone toset and modify the time to access the vehicle.

In yet another embodiment, the driver can specify a certain airplane ortrain on which he is travelling, and the parking control system cancommunicate with the air or train traffic control systems to estimatewhen the vehicle will be required.

In another embodiment of the invention, the priority of differentdrivers waiting for their vehicles can be set depending on how much theypay for the parking.

In a further embodiment, there are containers 10 of different heightsand/or sizes to maximise space utilisation when there are vehicles ofsignificantly different heights.

In another embodiment, there are two or more sizes of containers andload handlers for situations where a significant proportion of thevehicles are substantially smaller than others, the stacks 110 beingarranged such that there are subsections of the system dedicated todifferently sized vehicles.

In a final embodiment, automatic number plate recognition is used at theentry to the facility to get information about the model of vehicle, sothat the driver can be directed to an appropriate entry station.

It will be appreciated that as each container supports the container 10above it in the stack 110 each container 10 must be able to support theweight of the maximum number of containers 10 when fully laden withvehicles 20 that may be held in the stack 110. It is therefore importantthat the structure of the container is designed to accommodate suchvertical forces.

In the embodiments described above, the container 10 comprisesstructural corner supports 30 mounted on a flat base 35. However, itwill be appreciated that any suitable form of container 10 may be usedthat is capable of supporting laden containers 10 in the stack 110 aboveit.

As shown in FIGS. 9 to 11, the container 11 comprises a platform 35 anda box-type lid structure 80. It will be appreciated that in thisembodiment, the box-type structure 80 would need to be able to supportsimilarly configured containers 11 above it in the stack 110. This mayrequire solid sides to be used for the box structure 80 or may requirecorner supports 30 to be used with a cage like box structure mountedthereon.

In use, the vehicle 20 is parked on the substantially flat base 35. Oncethe driver and any passengers have exited the vehicle 20, a box-likestructure is lowered over the vehicle. The box-like structure 80comprises four load carrying supports 30 in the corners and solid and/ormesh sides and roof, as required for stability and protection. Thebox-type structure 80 is removably attached to the base 35 in order toallow the container 11 to be moved within the parking system. Thecontainer 11, base 35 and box-type structure may be formed from steel,either solid sheets or mesh either in total or in combination. However,it will be appreciated that any suitable material may be used.

In a further embodiment of the invention, shown in FIGS. 12 to 14, analternative mechanism for inputting vehicles in to the robotic parkingsystem is shown.

As shown in FIG. 12, the alternative mechanism comprises a platemoveable mounted on a set of rollers 100. The plate 135 may be movedfrom a first position to a second position on the rollers 100. Therollers 100 may be driven by an appropriate driving mechanism. In thefirst position, the plate 135 is positioned such that a vehicle may belocated thereon. In the second position, the plate 135 is positionedwithin a box-type structure 180 comprising at least corner supports. Thebox type structure 180 may comprise sides formed from a solid panel or amesh type structure formed from any suitable material but preferably astructural metallic material. Preferably the box-type structurecomprises solid sides so as to protect the robotic parking system, othervehicles and operatives, from fire within the box once the vehicle isparked.

The roller mechanism 100 within the box 180 is provided with rollerlessrecesses.

The underside of the plate 135 is provided with cooperating means tointeract with the rollerless recesses in the base of the box 180.

The plate 135, when in the second position within the box-type structurelocates in recesses within the roller mechanisms 100 in the base of thebox. The recesses within the roller mechanism 100 enable the plate 135to releasably locate at a fixed position within the box 180.Furthermore, the weight of any vehicle on the plate 135 will cause theplate 135 to locate in such a manner that the vehicle cannot move oncethe box 180 is lifted by the load handling device 50.

The mechanism by which the plate 135 and the roller mechanism interactis more clearly shown in FIGS. 13a to 13c . FIG. 13a shows the plate 135in the second position in which the plate is fully located within thebox 180 and securely positioned. FIG. 13b shows in greater detail therecesses in the roller system 100 that allows the plate 135 to correctlymove and repeatedly locate in a secure position within the box 180.

FIG. 13c shows the plate 135 in the second position where the again theplate 135 is entirely within the box and the underside of the plate 135is located such that the rollerless recesses in the base of the box 185are located against cooperating portions of the plate 135.

As shown in FIG. 15, the density of parking achieved by the roboticparking system exceeds that of a standard multi storey car park as noentry and exit ramps or aisles are required.

In use, as shown in FIG. 14, a vehicle 20 enters through an open gate into an entry point. The vehicle 20 is positioned on the plate 135, theplate 135 being located on the roller mechanism in the first position.Doors 192 to the parking system are closed. The driver and passengersexit the vehicle and the system through the doors 190. Once the doors190 are closed, the doors 192 may open and the roller mechanismactivates to move the vehicle located on the plate 135 in to the box180. The plate 135 is driven on the rollers via any suitable drivesystem until the plate locates in the rollerless recesses in the base ofthe box 180. At this point the plate 135 will no longer move withrespect to the box 180 and the vehicle is correctly and securelypositioned within the box 180.

Once in the second position within the box, the door 192 will shut andthe plate 135 will be substantially sealed against the base of the box180. In this way, should there be any ignition of fuel within the box,no adjacent vehicles will be damaged and the fire may be containedwithin one box 180.

Once the box 180 is sealed the load handling device will be moved insitu and the box containing the vehicle will be lifted and positionedwithin a stack within the parking system. It will be appreciated thatthe box can be identified by suitable identification means and that thebox 180 may be positioned with the stacks dependent on the length oftime the vehicle is expected to remain within the car park.

In order to remove the car from the car park, the position of the boxcontaining the target vehicle is identified and the load handlingdevices, either individually or in concert act so as to retrieve thetarget box 180 from within a stack within the system. Once retrieved bya load handling device 50, the box is returned to the entry/exit pointof the car park where the box is deposited in the exit area. Once thedoors 192 are opened, the roller mechanism acts in reverse to move theplate 135 from the second position within the box to the first positionwhere the vehicle can be collected. Once in the first position, the door192 closes and the driver can enter and retrieve the vehicle.

It will be appreciated that the plate 135 will need to be lifted so asto overcome the secured positioning of the plate 135 within therollerless recesses within the box 180. This may be achieved by anysuitable means but these may include providing a lifting mechanismoperable to lift the plate 135 only once the box is located fully in theexit position.

Once in the exit position with the door 192 closed, the door 190 mayopen to allow the vehicle to exit.

Each box 180 may be provided with sprinkler means to extinguish any firein the event of an emergency. It will be appreciated that the water orfire retardant fluid may be routed in to the box 180 via pipeworkmounted on or within the uprights 72 of the framework or the horizontalstructural members 74. When not in use, the sprinkler pipes remainempty. In this way, leakage of water or fire retardant fluid isminimised.

When located within the box 180, the plate 135 may define a cavityenabling liquids such as oil, rain water and melted snow plus other roaddebris may collect in the cavity. The cavity will be sealed such that noliquids or debris leak on to vehicles or boxes 180 below. Furthermore,the cavity may be periodically cleaned in response to a signal fromsensor means located within the cavity indicating that cleaning isrequired.

In the event of a fire being detected, only the boxes 180 in the givenstack or the individual container containing the fire need be sprinkled.The box type structure may be sealed sufficiently to prevent the spreadof fire due to lack of oxygen.

Other services may be routed to boxes in a similar manner. For examplesensors may be located within the boxes 180 to monitor temperature,humidity, vibration, movement. Furthermore, camera means may be providedwithin each box to allow the car park operator to monitor the vehiclescontained within the stack. All of these sensor mechanisms require powerand may require data logging means. All such services and communicationmeans may be routed to each box 180 via the uprights 72 of the frameworkor may be routed via the boxes 180 themselves.

UK Patent Application Nos GB1518091.2 and GB1518115.9, from which thepresent application claims priority, detail systems and methods ofrouting services through containers and framework structures and arehereby incorporated by reference.

It will be appreciated that the load handling devices 50 must be capableof lifting and moving laden containers. However, any suitable form ofwinch mechanism capable of lifting a laden container 10, 11 up andwithin the body 55 of the load handler 50 may be used.

It will be appreciated that the mechanisms described above are exemplaryonly and a skilled person in the art may be able to propose alternativemechanisms.

The invention claimed is:
 1. A robotic parking system comprising: aplurality of vehicle holding containers, the containers being disposedin stacks within a frame work structure, the frame work structureincluding a series of substantially vertical uprights having asubstantially horizontal grid mounted thereon, the grid including twosubstantially perpendicular sets of rails on which at least one loadhandling device is operable, the load handling device including a bodymounted on wheels, a first set of wheels being arranged to engage withat least two rails of the first set of rails and a second set of wheelsbeing arranged to engage with at least two rails of the second set ofrails, the first set of wheels being independently moveable anddriveable with respect to the second set of wheels such that when inmotion only one set of wheels is engaged with the rails at any one timethereby enabling movement of the load handling device along the rails toany point on the grid by driving only the set of wheels engaged with therails in which each container includes load carrying supports includingcorners of a box-type structure, the box-type structure adapted so as toremovably attach to a movable plate, the movable plate and the box-typestructure together forming a first vehicle holding container of theplurality of vehicle holding containers, the movable plate adapted so asto move from a first position remote from the box-type structure, to asecond position within the box-type structure, wherein when a vehicle islocated on the movable plate, the vehicle is configured to move on theplate into the box-type structure for onward transport into the parkingsystem.
 2. A robotic parking system according to claim 1, wherein theplate is movable from the first position remote from the box-typestructure to the second position within the box-type structure by aroller mechanism.
 3. A robotic parking system according to claim 2,wherein the roller mechanism within the box-type structure includesrollerless recesses and the underside of the plate includes cooperatingmeans adapted to interact with the rollerless recesses in the box-typestructure, wherein the plate releasably locates at a fixed positionwithin the box-type structure.
 4. A robotic parking system according toclaim 1, wherein the box-type structure comprises sides formed fromsolid panels and a door, the sides and the door together with the platein the second position form a sealed container.
 5. A robotic parkingsystem according to claim 1, wherein the vehicle holding containerscomprises sensor means including at least one of a temperature sensor, ahumidity sensor, a vibration sensor, and a movement sensor.
 6. A roboticparking system according to claim 1, wherein at least one of theplurality of vehicle holding containers comprises fire extinguishingmeans.
 7. A robotic parking system according to claim 1, wherein atleast one of the plurality of vehicle holding containers comprisescamera means to monitor any vehicle within the container.
 8. A roboticparking system according to claim 1, wherein the framework of theparking system is configured to route services at least one of thevehicle holding containers via one or more of the substantially verticaluprights of the framework of the parking system.
 9. A robotic parkingsystem according to claim 1, wherein the plate defines a cavity whichcollects debris from at least one of the plurality of vehicles.
 10. Amethod of parking a vehicle in a robotic parking system including aplurality of vehicle holding containers, the containers being disposedin stacks within a frame work structure, the frame work structureincluding a series of substantially vertical uprights having asubstantially horizontal grid mounted thereon, the grid including twosubstantially perpendicular sets of rails on which at least one loadhandling device is operable, the load handling device including a bodymounted on wheels, a first set of wheels being arranged to engage withat least two rails of the first set of rails and a second set of wheelsbeing arranged to engage with at least two rails of the second set ofrails, the first set of wheels being independently moveable anddriveable with respect to the second set of wheels, wherein when inmotion only one set of wheels is engaged with the rails at any one timethereby enabling movement of the load handling device along the rails toany point on the grid by driving only the set of wheels engaged with therails in which each container includes load carrying supports includingcorners of a box-type structure, the box-type structure adapted so as toremovably attach to a movable plate, the movable plate and the box-typestructure together forming a vehicle holding container, the methodcomprising the steps of: a. locating a vehicle on the movable plate; b.moving the plate from a first position remote from the box-likestructure to a second position within a box-type structure; c. attachingthe plate to the box-type structure to form a first vehicle holdingcontainer of the plurality of vehicle holding containers; d. lifting thefirst vehicle holding container with the at least one load handlingdevice; and e. locating the vehicle holding container on one of thestacks within the robotic parking system.